U.S. patent number 11,091,132 [Application Number 16/382,404] was granted by the patent office on 2021-08-17 for delay autonomous braking activation due to potential forward turning vehicle.
This patent grant is currently assigned to Bendix Commercial Vehicle Systems, LLC. The grantee listed for this patent is Bendix Commercial Vehicle Systems, LLC. Invention is credited to Nicholas A. Broyles, Jeffrey M. Carbaugh, Andrew L. Kennedy.
United States Patent |
11,091,132 |
Kennedy , et al. |
August 17, 2021 |
Delay autonomous braking activation due to potential forward
turning vehicle
Abstract
A method and controller are provided for delaying activation of
autonomous emergency braking of a host vehicle, based on a
determination that autonomous emergency braking is not needed
because a forward vehicle in front of the host vehicle is turning
out of the path of the host vehicle. The controller receives inputs
from sensors arranged on the host vehicle and includes a processor
for determining whether and when to activate autonomous emergency
braking. The processor includes control logic that determines
whether a forward vehicle is present in front of the host vehicle
and whether the forward vehicle is expected to turn out of a path
of the host vehicle prior to the host vehicle reaching a current
position of the forward vehicle. Based on the inputs from the
sensors, the control logic determines whether to delay activation
of the autonomous emergency braking of the host vehicle for a time
value.
Inventors: |
Kennedy; Andrew L. (Lakewood,
OH), Carbaugh; Jeffrey M. (Avon Lake, OH), Broyles;
Nicholas A. (North Ridgeville, OH) |
Applicant: |
Name |
City |
State |
Country |
Type |
Bendix Commercial Vehicle Systems, LLC |
Elyria |
OH |
US |
|
|
Assignee: |
Bendix Commercial Vehicle Systems,
LLC (Elyria, OH)
|
Family
ID: |
72747584 |
Appl.
No.: |
16/382,404 |
Filed: |
April 12, 2019 |
Prior Publication Data
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|
|
|
Document
Identifier |
Publication Date |
|
US 20200324743 A1 |
Oct 15, 2020 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60Q
9/008 (20130101); B60T 8/174 (20130101); B60T
7/22 (20130101); B60T 7/18 (20130101); B60T
2201/081 (20130101); B60T 2201/083 (20130101); B60T
2210/36 (20130101); B60T 2201/022 (20130101); B60T
2210/32 (20130101) |
Current International
Class: |
B60T
7/22 (20060101); B60T 8/174 (20060101); B60Q
9/00 (20060101) |
References Cited
[Referenced By]
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Other References
International Search Report (PCT/ISA/220 & PCT/ISA/210) issued
in PCT Application No. PCT/US2020/027260 dated Jun. 25, 2020 (three
pages). cited by applicant .
Written Opinion (PCT/ISA/237) issued in PCT Application No.
PCT/US2020/027260 dated Jun. 25, 2020 (10 pages). cited by
applicant .
Rosen, E., "Autonomous Emergency Braking for Vulnerable Road
Users", IRCOBI Conference 2013, pp. 618-627 (10 pages). cited by
applicant .
Cover page of EP 3 365 212 A1 published Aug. 29, 2018 (one (1)
page). cited by applicant .
"Automatic Emergency Braking Systems (AEBS)", GRRF Informal Group
on Automatic Emergency Braking and Lane Departure Warning Systems,
Jun. 2009, NTSEL (42 pages). cited by applicant .
Nyland, "V8.0 automatic braking with two cars in front",
https://www.youtube.com/watch?v=cG3Jp5GyPoc Oct. 16, 2016. cited by
applicant.
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Primary Examiner: Badii; Behrang
Assistant Examiner: Greene; Daniel L
Attorney, Agent or Firm: Crowell & Moring LLP
Claims
What is claimed is:
1. A controller for a vehicle system on a host vehicle, comprising:
an input interface for receiving inputs from sensors arranged on
the host vehicle; an output interface for outputting a braking
signal to control autonomous emergency braking of the host vehicle;
and a processor having control logic capable of: determining
whether a forward vehicle is present in front of the host vehicle
based on the inputs from the sensors; in a case in which the
forward vehicle is determined to be present in front of the host
vehicle, determining whether the forward vehicle is expected to
turn out of a path of the host vehicle prior to the host vehicle
reaching a current position of the forward vehicle based on the
inputs from the sensors; and in a case in which the forward vehicle
is expected to turn out of the path of the host vehicle prior to
the host vehicle reaching the current position of the forward
vehicle, delaying activation of the autonomous emergency braking of
the host vehicle for a time value; wherein determining whether the
forward vehicle is expected to turn out of the path of the host
vehicle prior to the host vehicle reaching the current position of
the forward vehicle includes at least one of determining whether
the forward vehicle is decelerating and determining whether a break
in a road barrier indicating an intersection or driveway is
present.
2. The controller according to claim 1, wherein, in a case in which
the forward vehicle is not expected to turn out of the path of the
host vehicle, activating the autonomous emergency braking of the
host vehicle without a delay.
3. The controller according to claim 1, wherein the sensors include
at least one of a radar, a camera, and a lidar.
4. The controller according to claim 1, wherein the control logic
is further capable of continuously receiving updated signals from
the sensors and determining whether to activate the autonomous
emergency braking based on the updated signals.
5. The controller according to claim 1, wherein the control logic
is capable of delaying at least one of an audible warning and a
visual warning in the case in which the forward vehicle is expected
to turn out of the path of the host vehicle prior to the host
vehicle reaching the current position of the forward vehicle.
6. The controller according to claim 1, wherein the control logic
is further capable of determining whether a path of the forward
vehicle to make the turn is blocked by an obstruction in the path
of the forward vehicle based on the inputs from the sensors.
7. The controller according to claim 6, wherein, when the path of
the forward vehicle is blocked by the obstruction, the autonomous
emergency braking of the host vehicle is activated without a
delay.
8. The controller according to claim 6, wherein, when the path of
the forward vehicle is not blocked by the obstruction, the
activation of the autonomous emergency braking of the host vehicle
is delayed by the time value.
9. The controller according to claim 1, wherein determining whether
the forward vehicle is expected to turn out of the path of the host
vehicle prior to the host vehicle reaching the current position of
the forward vehicle further includes determining whether a visual
turn indicator of the forward vehicle is activated.
10. The controller according to claim 9, wherein determining
whether the forward vehicle is expected to turn out of the path of
the host vehicle prior to the host vehicle reaching the current
position of the forward vehicle includes determining, based on GPS
data, whether the forward vehicle is approaching an
intersection.
11. The controller according to claim 1, wherein the time value is
determined by at least one of a time to collision, a predetermined
amount of time, a distance to the forward vehicle and a relative
velocity to the forward vehicle.
12. The controller according to claim 11, wherein the predetermined
amount of time is between 0.5 seconds and 1 second.
13. The method according to claim 12, further comprising: in a case
in which the forward vehicle is not expected to turn out of the
path of the host vehicle, activating the autonomous emergency
braking of the host vehicle without a delay.
14. The method according to claim 12, further comprising:
determining whether a path of the forward vehicle to make the turn
is blocked by an obstruction in the path of the forward vehicle
based on the inputs from the sensors.
15. The method according to claim 12, further comprising:
continuously receiving updated signals from the sensors and
determining whether to activate the autonomous emergency braking
based on the updated signals.
16. The method according to claim 12, wherein determining whether
the forward vehicle is expected to turn out of the path of the host
vehicle prior to the host vehicle reaching the forward vehicle
further includes determining whether a visual turn indicator of the
forward vehicle is activated.
17. The method according to claim 12, wherein the predetermined
amount of time is between 0.5 seconds and 1 second.
18. The method according to claim 12, wherein the sensors include
at least one of a radar, a camera, and a lidar.
19. The method according to claim 18, wherein determining whether
the forward vehicle is expected to turn out of the path of the host
vehicle prior to the host vehicle reaching the forward vehicle
includes determining, based on GPS data, whether the forward
vehicle is approaching an intersection.
20. The method according to claim 12, wherein the time value is
determined by at least one of a time to collision, a predetermined
amount of time, a distance to the forward vehicle and a relative
velocity to the forward vehicle.
21. The method according to claim 20, further comprising delaying
at least one of an audible warning and a visual warning in the case
in which the forward vehicle is expected to turn out of the path of
the host vehicle prior to the host vehicle reaching the current
position of the forward vehicle.
22. A method for controlling a vehicle system on a host vehicle,
comprising: receiving inputs from sensors arranged on the host
vehicle; determining whether a forward vehicle is present in front
of the host vehicle based on the inputs from the sensors; in a case
in which the forward vehicle is determined to be present in front
of the host vehicle, determining whether the forward vehicle is
expected to turn out of a path of the host vehicle prior to the
host vehicle reaching a current position of the forward vehicle
based on the inputs from the sensors; and in a case in which the
forward vehicle is expected to turn out of the path of the host
vehicle prior to the host vehicle reaching the current position of
the forward vehicle, delaying activation of autonomous emergency
braking of the host vehicle for a predetermined amount of time;
wherein determining whether the forward vehicle is expected to turn
out of the path of the host vehicle prior to the host vehicle
reaching the current position of the forward vehicle includes at
least one of determining whether the forward vehicle is
decelerating and determining whether a break in a road barrier
indicating an intersection or driveway is present.
23. The method according to claim 22, wherein, when the path of the
forward vehicle is blocked by the obstruction, the autonomous
emergency braking of the host vehicle is activated without a
delay.
24. The method according to claim 22, wherein, when the path of the
forward vehicle is not blocked by the obstruction, the activation
of the autonomous emergency braking of the host vehicle is delayed
by the predetermined amount of time.
Description
BACKGROUND AND SUMMARY OF THE INVENTION
The present invention relates to a control system for autonomous
emergency braking of a vehicle. In particular, the present
invention relates to a method and a controller for a vehicle system
on a host vehicle that delays the activation of autonomous
emergency braking when it is determined that a forward vehicle in
front the host vehicle is turning out of the path of the host
vehicle.
Conventional autonomous emergency braking (AEB) systems determine
when to activate emergency braking based on whether an obstacle
such as another vehicle is present in the path of the host vehicle
and whether the host vehicle needs to begin braking in order to
avoid a collision with the obstacle. If these determinations are
positive and the driver has not already initiated a braking action,
the AEB system activates emergency braking to slow the host
vehicle. Conventional AEB systems, however, do not consider whether
the obstacle is likely to leave the path of the host vehicle, in
which case the activation of emergency braking may be delayed or
unnecessary.
In a typical vehicle turning operation at an intersection or
driveway, the vehicle operator will decelerate their vehicle to an
appropriate turning speed before performing the turn. When the
turning vehicle is a forward vehicle in front of a host vehicle,
the operator of the host vehicle may recognize that the forward
vehicle is decelerating because it is going to turn off the road on
which the vehicles are traveling. In this case the operator of the
host vehicle may choose to not decelerate to match the speed of the
forward vehicle, since the forward vehicle is likely to have
already completed the turn and will no longer be obstructing the
road in front of the host vehicle when the host vehicle reaches the
location of the forward vehicle. However, if the host vehicle is
equipped with a conventional AEB system, the conventional AEB
system is not aware that the forward vehicle is making a turn and
is not likely to remain an obstacle in front of the host vehicle,
and thus the conventional AEB system will recognize the forward
vehicle as a potential forward collision threat and activate an
audible and/or visual warning and/or an emergency braking of the
host vehicle. In these situations, autonomous emergency braking can
be an unnecessary annoyance to the vehicle operator who may be
aware of the obstacle and its movement out of the path of the host
vehicle.
In order to avoid unnecessary activation of autonomous emergency
braking, the present invention makes a determination of whether a
forward vehicle in front of the host vehicle is making a turn out
of the path of the host vehicle such that activation of emergency
braking can be delayed and avoided. When it is determined that the
forward vehicle is likely to move out of the path of the host
vehicle, such as by making a turn off the road on which the
vehicles are traveling, the activation of the autonomous emergency
braking is delayed by a time value. Accordingly, an unnecessary
activation of the autonomous emergency braking is avoided, which
improves the vehicle operator's satisfaction and the operational
efficiency of the vehicle.
Other objects, advantages and novel features of the present
invention will become apparent from the following detailed
description of one or more preferred embodiments when considered in
conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 illustrates a schematic block diagram of a vehicle system of
a host vehicle according to an exemplary embodiment of the present
invention;
FIG. 2 illustrates a method for controlling a vehicle system of a
host vehicle according to an exemplary embodiment of the present
invention;
FIG. 3A illustrates a host vehicle detecting a forward vehicle that
is making a turn in front of the host vehicle; and
FIG. 3B illustrates a host vehicle detecting a forward vehicle that
is making a turn in front of the host vehicle in a case in which
the forward vehicle is blocked from making the turn by an obstacle
in the path of the forward vehicle.
DETAILED DESCRIPTION OF THE DRAWINGS
FIG. 1 illustrates a schematic block diagram of a vehicle system of
a host vehicle according to an exemplary embodiment of the present
invention. The vehicle system illustrated in FIG. 1 includes an
autonomous emergency braking (AEB) system, which includes an
autonomous emergency braking (AEB) system controller 101, one or
more sensors 102, a braking control device 103, a driver interface
104, and a communication interface 105. Although FIG. 1 illustrates
direct connections between the parts of the vehicle system for
clarity, the various parts of the vehicle system can communicate
with each other via a communication network or a communication bus,
such as a Controller Area Network (CAN) bus.
The sensors 102 can include, for example, one or more of a camera,
a radar, and a lidar arranged on the host vehicle for detecting
signals from a forward vehicle in front of the host vehicle and an
area in the vicinity of the host vehicle and the forward vehicle.
The sensors 102 can be used to gather images of the forward vehicle
and structural features in the vicinity of the forward vehicle,
such as intersections on a road, driveways, and road barriers and
markings (e.g., curbs, lane lines, etc.). The images of the forward
vehicle can be used to determine whether a turn indicator light
(blinker) of the forward vehicle is activated, which indicates that
the forward vehicle is likely to turn off the road on which it is
traveling, such that the forward vehicle will move out of the path
of the host vehicle. Also, the sensors 102 can be used to determine
the speed of the forward vehicle and whether the forward vehicle is
decelerating, which provides another indication that the forward
vehicle is likely to turn and leave the road on which it is
currently traveling.
The AEB system controller 101 includes a processor having control
logic that receives inputs from the sensors 102 via input interface
101a and outputs brake control signals to the braking control
device 103 via the output interface 101b. The input and output
interfaces 101a and 101b can be any kind of wired or wireless
connections used by the AEB system controller 101 to connect to the
sensors 102 and the braking control device 103. Upon receiving a
brake control signal, the braking control device 103 activates the
vehicle brakes to slow or stop the vehicle.
The operator of the vehicle is provided with a driver interface
104, through which the AEB system controller 101 can communicate
with the operator. For example, the AEB system controller 101 can
provide the operator with a plurality of visual, text, and audible
indicators and alerts via the driver interface 104. These
indicators and alerts can include warnings about forward vehicles
and other obstacles in the path of the host vehicle that represent
a forward collision threat to the host vehicle. The vehicle system
illustrated in FIG. 1 also includes a communication interface 105
for communicating with other vehicle systems and systems outside of
the vehicle.
FIG. 2 illustrates a method for controlling a vehicle system of a
host vehicle according to an exemplary embodiment of the present
invention. In accordance with the method, the AEB system controller
101 receives signals from sensors 102 arranged on the host vehicle
for identifying the presence and location of a forward vehicle and
other obstacles in or near the path of the host vehicle. Although
the obstacle in front of the host vehicle can be something other
than a forward vehicle, for the sake of clarity and simplicity, the
following description will only refer to a forward vehicle.
The sensors 102 can include cameras, radar devices, and lidar
devices for obtaining images, distances, angles, locations and
velocities, for example, of the forward vehicle and other obstacles
near the path of the host vehicle. In step S201 of FIG. 2, the AEB
system controller 101 receives signals from the sensors 102. Based
on the received signals, the processor in the AEB system controller
101 determines in step S202 whether a forward vehicle is in front
of the host vehicle and is target for continued monitoring by the
AEB system controller. If no forward vehicle is located in the path
of the host vehicle or the forward vehicle is determined to not be
a collision threat to the host vehicle, the host vehicle continues
operation without any intervention by the AEB system and continues
to receive sensor signals. Although a return to step S201 for
receiving sensor signals is only illustrated at step S202, it is to
be understood that the sensors 102 continue to obtain images,
distances, angles, velocities and the like of the forward vehicle,
and the AEB system controller 101 continues to receive updated
signals throughout the operation of the host vehicle.
If it is determined in step S202 that a forward vehicle is present
in front of the host vehicle, a determination is made in step S203
of whether the forward vehicle is turning, which would result in
the forward vehicle leaving the path of the host vehicle. After the
forward vehicle completes its turn, the forward vehicle no longer
represents a threat of a forward collision. The AEB system
controller 101 makes this determination by analyzing the signals
received from the sensors 102, wherein the signals can represent
images of the forward vehicle and structural features in the
vicinity of the forward vehicle, such as intersections on a road,
driveways, and road barriers and markings (e.g., curbs, lane lines,
etc.). The images of the forward vehicle can be used to determine
whether a turn indicator light (blinker) of the forward vehicle is
activated, which indicates that the forward vehicle is likely to
turn off the road on which it is traveling. Also, the sensors 102
(e.g., radar and lidar) can be used to determine the speed of the
forward vehicle and whether the forward vehicle is decelerating.
This provides another indication that the forward vehicle is likely
to turn and leave the road on which it is currently traveling.
Additionally, the AEB system controller 101 can receive GPS signals
from a GPS-based mapping system in the host vehicle, which provide
another source of road information, such as upcoming intersections,
which can be used in conjunction with the sensor signals to
determine whether the forward vehicle is turning.
Alternatively, an algorithm can be implemented in the AEB system
controller 101 to indicate the likelihood of turning using all of
the inputs available. For example, a side road detection, a break
in a road barrier detection, a forward vehicle turn signal
detection, and the forward vehicle's lateral position and lateral
acceleration relative to the host vehicle can be received by the
AEB system controller 101 and based on the received inputs a
likelihood of the forward vehicle making a turn out of the path of
the host vehicle can be determined. The likelihood can be
determined based on any desired combination of positive detection
results from the side road, road barrier, and turn signal
detections and lateral position and acceleration information of the
forward vehicle. The AEB system controller 101 can compare the
determined likelihood to a threshold value to determine whether the
forward vehicle is likely to turn. The threshold value can be
predetermined or adjustable based on the detected signals in the
vicinity of the host vehicle.
If it is determined in step S203 that the forward vehicle is not
turning, then in step S204 the AEB system is activated without a
delay to ensure that the host vehicle avoids a collision with the
forward vehicle. On the other hand, if it is determined in step
S203 that the forward vehicle is turning, then the AEB system
controller 101 determines in step S205 whether a path of the
forward vehicle is blocked by a pedestrian, vehicle or other
obstacle 400. This determination can be made based on signals
received from the sensors 102 that are obtained from the area in
and near the path of the forward vehicle.
If it is determined in step S205 that the path of the forward
vehicle is blocked, then the AEB system is activated without a
delay in step S204. If the AEB system controller 101 determines in
step S205 that the turn of the forward vehicle is not blocked, then
in step S206 the AEB system controller 101 delays activation of the
AEB system by a time value determined by at least one of a time to
collision, a predetermined amount of time, a distance to the
forward vehicle and a relative velocity to the forward vehicle. The
audible and visual warning of AEB activation may also be delayed.
Alternatively, the visual warning could be immediate upon detection
of the forward vehicle as a potential collision threat, but the
audible warning delayed. In an exemplary embodiment of the present
invention, the time value is 0.5 seconds to 1 second, depending,
for example, upon the distance between the host vehicle and the
forward vehicle and the speed at which the host vehicle is
approaching the forward vehicle. In alternative embodiments,
however, the time value is less than 0.5 seconds or more than 1
second. As illustrated in step S207, the AEB system continues to
monitor the forward vehicle and its path for any changes via
sensors 102 and activates emergency braking as needed.
FIGS. 3A and 3B illustrate a host vehicle 100 detecting a forward
vehicle 300 in front of the host vehicle 100 that is making a turn
at an intersection of roads. FIG. 3B illustrates a case in which an
obstacle 400 (e.g., vehicle or pedestrian) is blocking the forward
vehicle 300 from making a turn. As described above, the sensors 102
arranged on the host vehicle may include, for example, a radar and
a camera. In FIGS. 3A and 3B, the group of parallel lines in front
of the host vehicle 100 represents a radar signal output by a radar
device installed on the front of the host vehicle. The radar device
may be installed on the front bumper of the host vehicle, but it is
not limited to this location. The wider triangular shape in FIGS.
3A and 3B represents the view of a camera mounted on the host
vehicle 100. Although the camera is illustrated as being mounted on
or near the windshield of the host vehicle 100, this location is
merely an example and the camera can be mounted in other locations
on the host vehicle 100.
The foregoing disclosure has been set forth merely to illustrate
the invention and is not intended to be limiting. Since
modifications of the disclosed embodiments incorporating the spirit
and substance of the invention may occur to persons skilled in the
art, the invention should be construed to include everything within
the scope of the appended claims and equivalents thereof.
* * * * *
References